Robot cleaner system and control method of the same

ABSTRACT

A robot cleaner system may include a robot cleaner that may be automatically driven while performing a cleaning operation, a recharging base that receives the robot cleaner, and a remote control device that remotely controls the robot cleaner. The remote control device may also generate mapping information between an actual region and a virtual region based on image information generated by a camera provided on the robot cleaner, and/or image information generated by a camera on the recharging base.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application claims priority under 35 U.S.C. §119 to KoreanApplication No. 10-2012-0119843 filed in Korea on Oct. 26, 2012 andKorean Application No. 10-2013-0106870 filed in Korea on Sep. 5, 2013,whose entire disclosures are hereby incorporated by reference.

BACKGROUND

1. Field

This relates to a robot cleaner and a control method of the same.

2. Background

A vacuum cleaner may be, for example, a manual vacuum cleaner directlyoperated by a user, or a robot cleaner that performs cleaning on itsown, without manual user operation. A robot cleaner may clean a floor ora carpet of a room. Such a robot cleaner may include an air suctiondevice provided in a cleaner case, the air suction device including amotor and a fan. After driving the air suction device and sucking inexternal air containing foreign matter, the robot cleaner may separatesthe foreign matter from the air and exhaust clean air.

BRIEF DESCRIPTION OF THE DRAWINGS

The embodiments will be described in detail with reference to thefollowing drawings in which like reference numerals refer to likeelements wherein:

FIG. 1 is a perspective view of a robot cleaner according to oneembodiment as broadly described herein;

FIG. 2 is a perspective view of an inner structure of the robot cleanershown in FIG. 1;

FIG. 3 is a lower perspective view of the robot cleaner shown in FIG. 1;

FIG. 4 is a block diagram of a robot cleaner of a robot cleaner systemaccording to one embodiment as broadly described herein;

FIG. 5 is a block diagram of a remote control device of the robotcleaner system according to one embodiment as broadly described herein;

FIG. 6 is a front perspective view of the remote control device shown inFIG. 5;

FIG. 7 is a rear perspective view of the remote control device shown inFIGS. 5 and 6;

FIG. 8 illustrates a method for generating image information of a robotcleaner in a robot cleaner system, in accordance with embodiments asbroadly described herein;

FIG. 9 illustrates a method for generating location information of arobot cleaner in the robot cleaner system, in accordance withembodiments as broadly described herein;

FIG. 9A illustrates a recognition mark provided in the robot cleaner;

FIG. 9B illustrates a recognition mark recognized on an image of theimage information;

FIG. 9C illustrates location information generation of the robot cleanerusing the remote control device;

FIG. 9D illustrates a posture of the robot cleaner;

FIGS. 10 through 13 illustrate a location base service of the robotcleaner provided by the robot cleaner system, in accordance withembodiments as broadly described herein;

FIG. 10A illustrates a method for setting a cleaning region of the robotcleaner via touch input on a display;

FIG. 10B illustrates a state in which the robot cleaner performscleaning in a set cleaning region;

FIG. 11 illustrates a method for setting a passage of the robot cleanervia touch input on a display;

FIG. 12 illustrates a method for setting a do-not clean region of therobot cleaner via touch input on a display;

FIG. 13 illustrates a method for calling the robot cleaner to the user'sposition;

FIG. 14 is a flow chart of a control method of a robot cleaner system,in accordance with embodiments as broadly described herein;

FIG. 15 is a flow chart of a method of sensing the robot cleaner, inaccordance with an embodiment as broadly described herein;

FIG. 16 is a flow chart of a method of providing a location baseservice, in accordance with an embodiment as broadly described herein;

FIG. 17 is a flow chart of a method of sensing the robot cleaner, inaccordance with another embodiment as broadly described herein;

FIG. 18 is a perspective view of an exemplary recharging base providedin the robot cleaner system, in accordance with embodiments as broadlydescribed herein;

FIG. 19 is a conceptual diagram illustrating a lightening image used asan exemplary recognition device provided in a robot cleaner as embodiedand broadly described herein;

FIG. 20 illustrates a comparison between before and after activating thelightening image shown in FIG. 19;

FIGS. 21A-21D illustrate exemplary recognition devices; and

FIG. 22 is an initial image of implementing an application in the remotecontrol device, in accordance with embodiments as broadly describedherein.

DETAILED DESCRIPTION

Exemplary embodiments are described more fully hereinafter withreference to the accompanying drawings. The disclosed subject mattermay, however, be embodied in many different forms and should not beconstrued as limited to the exemplary embodiments set forth herein.Exemplary embodiments may be described herein with reference tocross-region illustrations that are schematic illustrations of idealizedembodiments (and intermediate structures) of the disclosed subjectmatter. As such, variations from the shapes of the illustrations as aresult, for example, of manufacturing techniques and/or tolerances, maybe expected. Thus, exemplary embodiments should not be construed aslimited to the particular shapes of regions illustrated herein but mayinclude deviations in shapes that result, for example, frommanufacturing.

A robot cleaner may suck foreign matter (e.g., dust) from the floor in aset region to be cleaned, while maneuvering through the region, or mayperform cleaning automatically using an obstacle sensor, or while beingmanually driven via a remote control device wirelessly linked to therobot cleaner. However, without an element for precisely measuring arelative position between the user and the robot cleaner, a location ofthe robot cleaner may be difficult to detect. In addition, when therobot cleaner is manually operated, passage direction of the robotcleaner may be changed via a direction key provided on a remote controldevice in real time. Delayed response to such changes may cause userinconvenience, and imprecise operation of the robot cleaner. Wirelessoperation of the robot cleaner may be performed while the user iswatching the robot cleaner, but may require that the user and the robotcleaner be located in the same portion of a cleaning region to enablethe wireless operation of the robot cleaner. Accordingly, even thoughwireless control may be available, the user may tend to employ only anauto-clean mode.

A robot cleaning system according to an embodiment as broadly describedherein may include a robot cleaner 100 configured to perform cleaning,while being automatically driven, and a remote control device 200configured to remotely control the robot cleaner 100.

The remote control device 200 may include a camera 221′ to generateimage information for the robot cleaner 100 and a region near the robotcleaner 100. The remote control device 200 may generate locationinformation about the robot cleaner 100 based on the image information.Specifically, a region displayed on the remote control device 200 may bemapped with an actual cleaning region based on the image information.

Referring to FIGS. 1-4, the robot cleaner 100 may include a cleaner case110 that defines an exterior appearance of the robot cleaner 100, asuction device 120 provided in the cleaner case 110, a suction nozzle130 configured to suck dust on the floor via the driving of the suctiondevice 120 and a dust collector 140 configured to collect foreign matterfrom the sucked air.

The cleaner case 110 of the robot cleaner 100 may be formed in acylinder shape with a relatively smaller height than a diameter, inother words, a flat cylinder shape. It may have a square shape withcircular corners.

In an outer circumferential surface of the cleaner case 110 may beprovided a sensor configured to sense a distance to a wall or anobstacle in a room, a bumper configured to damp a shock generated bycollision and wheels 150 configured to move the robot cleaner 100.

The wheels 150 may include a left driving wheel 152 and a right drivingwheel 154 which are installed at two opposite lower portions of thecleaner case 110, respectively. The left and right driving wheels 152and 154 are configured to be rotated by a left wheel motor 152 a and aright wheel motor 154 a controllable by a cleaner controller 160,respectively, such that the robot cleaner 100 can change a direction inaccordance with the driving of the left and right wheel motors 152 a and154 a automatically, while performing a cleaning operation.

At least one auxiliary wheel 156 may be provided in a bottom of thecleaner case 110 and the auxiliary wheel 156 may minimize frictionbetween the robot cleaner 100 and the floor and guide the motion of therobot cleaner 100 simultaneously.

Moreover, a recognition device may be provided in the cleaner case 110to map an actual region in which the robot cleaner is located, and avirtual region. Also, the recognition device may be various types withvarious shapes and it may be provided in the cleaner case 110 or on anouter surface of the cleaner case 110. In other words, the recognitiondevice may be recognized via a camera outside the robot cleaner 100.

In FIG. 1, a recognition mark 112 is shown as one example of therecognition device. The recognition mark 112 may be provided, forexample, on an upper surface of the cleaner case 110 and it may havevarious patterns. Also, a position of the recognition device may bechanged in various ways and the number of the positions may bechangeable. The recognition device may allow the actual region where therobot cleaner 100 is located to be mapped with the virtual region in anexternal device. For example, the actual region where the robot cleaner100 is located may be mapped with a virtual region displayed on theexternal device, which will be described specifically later.

As shown in FIG. 4, the cleaner controller 160 may be linked to variouscomponents of the robot cleaner 100 to control the driving of the robotcleaner 100, and may be provided in the cleaner case 110, for example, afront portion inside the case 110. Also, a battery 170 configured tosupply a power to the suction device 120 may be provided in the cleanercase 110, for example, a rear portion inside the case 110.

The suction device 120 configured to generate an air suction force maybe provided behind the battery 170 and the dust collector 140 may bedetachably coupled to a rear portion of a dust collector coupling partprovided in a rear portion of the suction device 120.

The suction nozzle 130 may be provided under the dust collector 140 andit may draw in foreign matter with air from the surface to be cleaned.The suction device 120 may include a fan installed at an incline betweenthe battery 170 and the dust collector 140, and connected to a motorthat is electrically connected to the battery 170 and a shaft of themotor to blow air.

The suction nozzle 130 may be exposed to a bottom of the cleaner case110 via a hole formed in the bottom of the cleaner case 110, to allowfor contact with the floor of the room.

To control the robot cleaner 100 from a distance, the robot cleaner 100according to this embodiment may include a first wireless communicationdevice 180 that can wirelessly communicate with an external device.

The first wireless communication device 180 may include one or moremodules that enable the robot cleaner 100 to wirelessly communicate withan external device or an external network. For example, the firstwireless communication device 180 may include a wireless internet module181 and a short range communication module 182.

The wireless internet module 181 may provide for wireless internet linkand it may be an internal element or an external element of the robotcleaner 100. Examples of wireless internet technologies may include WLAN(Wireless LAN) (Wi-Fi), WiBro (Wireless Broadband), WiMax (WorldInteroperability for Microwave Access) and HSDPA (High Speed DownlinkPacket Access).

The short range communication module 182 may provide for short rangecommunication. Examples of short range communication may includeBluetooth, RFID (Radio Frequency Identification), IrDA (Infrared DataAssociation and UWB (Ultra Wideband Zigbee).

Next, referring to FIGS. 5, 6 and 7, an example of the remote controldevice 200 of the robot cleaner system will be described.

FIG. 5 is a block diagram of the remote control device 200 of the robotcleaner system according to one embodiment as broadly described herein.

The remote control device 200 may provide for remote access to the robotcleaner 100 to control the driving of the robot cleaner 100. Examples ofthe remote control device may include a smart phone, PDA (PersonalDigital Assistant) and PMP (Portable Multimedia Player).

For convenient explanation, a smart phone will be considered hereinafteras the remote control device 200 of the robot cleaner 100.

The remote control device 200 may include a wireless communicationdevice 210, AV (Audio/Video) input device 220, a user input device 230,an output device 240, a memory 250, an interface 260, a terminalcontroller 270 and a power supply 280. The components shown in FIG. 5are not necessarily provided and a remote control device 200 having moreor less components may be realized.

Each of the components will be described in order.

The wireless communication device 210 (a second wireless communicationdevice) may include one or more modules that enables wirelesscommunication between wireless communication systems or wirelesscommunication between the remote control device 200 and a network inwhich the remote control device 200 is located. For example, the secondwireless communication device 210 may include a mobile communicationmodule 211, a wireless internet module 212 and a short rangecommunication module 213.

The mobile communication module 211 transmits and receives a wirelesssignal to and from one or more of a base station, an external terminal aserver on a mobile communication network. Such a wireless signal mayinclude various types of data in accordance with transmission/receivingof a voice call signal, a video call signal or a texture/multimediamessage.

The wireless internet module 212 may provide for wireless internet linkand it may be an internal or external element of the remote controldevice 200. Examples of wireless internet technologies may include WLAN(Wireless LAN) (Wi-Fi), WiBro (Wireless Broadband), WiMax (WorldInteroperability for Microwave Access) and HSDPA (High Speed DownlinkPacket Access).

The short range communication module 213 may provide for short rangecommunication. Examples of short range communication may includeBluetooth, RFID (Radio Frequency Identification), IrDA (Infrared DataAssociation and UWB (Ultra Wideband Zigbee).

Referring to FIG. 5, the A/V input device 220 is for inputting an audiosignal or a video signal and it may include a camera 221 and amicrophone 222. The camera 221 processes image frames of a video file ora still image gained by an image sensor in a video call mode or cameramode. The processed image frame may be displayed on a display 241.

The image frame processed by the camera 221 may be stored in the memory250 or transmitted to an external device via the second wirelesscommunication device 210. Two or more cameras 221 may be provided inaccordance with a service environment.

The microphone 222 converts an external audio signal received from theoutside into electric voice data in a call or record mode and a voicerecognition mode. In the call mode, the processed voice data may beconverted into a transmittable signal and output to a mobilecommunication base station by the mobile communication module 211. Inthe microphone 222 may be realized various types of noise rejectionalgorithms for reflecting the noise generated while receiving theexternal audio signal.

The user input device 230 generates data for the user to control theoperation of the remote control device 200. The user input device 230may include a key pad, a dome switch, a touch pad (staticpressure/capacitive type), a jog wheel and a jog switch.

The output device 240 may generate output associated with visual,auditory or tactual sense. The output device 240 may include a display241, an audio output module 242, an alarm module 243 and a haptic module244.

The display 241 displays, in other words, outputs the informationprocessed in the remote control device 200. For example, the display 241may display UI (User Interface) or a GI (Graphic User) interfaceassociated with a call when the remote control device 200 is in a callmode. When the remote control device 200 is a video call mode or acamera mode, the display 241 may display photographing and/or receivedimage or UI and GUI.

The display 241 may include at least one of a liquid crystal display(LCD), a thin film transistor liquid crystal display (TFT LCD), anorganic light emitting diode (OLED), a flexible display or a 3D display.

Two or more displays 241 may be provided in accordance with a realizingtype of the remote control device 200. For example, a plurality ofdisplays 241 may be arranged in one surface at intervals or integrally,or they may be arranged in different surfaces, respectively.

When the display 241 and a sensor for sensing touch input (hereinafter,‘a touch sensor’) form a layer structure (hereinafter, ‘a touchscreen’), the display 241 may be used as an input device as well as anoutput device. The touch sensor may have a touch film, a touch sheet anda touch pad.

The touch sensor may be configured to convert a pressure applied to aspecific point of the display 241 or change in capacitances generated ina specific point into an electric input signal. The touch sensor maydetect a position of input touch and an area of the input touch. Also,it may detect a pressure applied in the touch input.

When the touch input is sensed by the touch sensor, a signal(s)corresponding to the touch may be transmitted to a touch controller. Thetouch controller processes the signal(s) and transmits datacorresponding to the signal(s) to the terminal controller 270. Afterthat, the terminal controller 270 may the terminal controller 270 maydetermine which point is touched on the display 241.

The audio output module 242 may output audio data received from thesecond wireless communication device 210 or stored in the memory 250 incall signal receiving, a call or record mode, a voice recognizing modeand a broadcasting receive mode. The audio output module 242 may outputan audio signal associated with functions performed by the remotecontrol device 200 (e.g., a call signal receiving sound and a messagereceiving sound). Such an audio output module 242 may include areceiver, a speaker and a buzzer.

The alarm module 243 outputs signal for notifying event generation ofthe remote control device 200. Examples of the event generated in theremote control device 200 may include call signal receiving, messagereceiving, key signal input and touch input. The alarm module 243 mayalso output another type signal rather than the video or audio signal.The alarm module 243 may output a vibration signal for notifying theevent generation. The video or audio signal may be output even via thedisplay 241 or the audio output module 242 and both of the display 241and the audio output module 242 may be categorized as the alarm module243.

The haptic module 244 generates various tactile or haptic effects sensedby the user. A typical example of the haptic effects generated by thehaptic module 244 may be vibration. Intensity and a pattern of thevibration generated by the haptic module 244 may be controllable. Forexample, different vibrations may be compounded and output or they maybe sequentially output.

The memory 250 may store a program for operating the terminal controller270 or temporarily store input/output data (e.g., a phone book, amessage, a still image and a motion picture) therein. The memory 250 maystore various patterned vibrations and sounds output after the touchinput.

The memory 250 may include at least one of storage medium including aflash memory type, a hard disk type, a multimedia card micro type, acard type memory (e.g., a SD or XD memory), RAM (Random Access Memory),SRAM (static Random Access Memory), PROM (Programmable Read-OnlyMemory), MRAM (Magnetic Random Access Memory), a magnetic disk and anoptical disk. The remote control device 200 may be operated inassociation with a web storage performing a storage function of thememory 250 on the internet.

The interface device 260 may be employed as a passage to all of theexternal devices connected with the remote control device 200. Theinterface 260 may be provided with data and/or power by the externaldevices and may transmit the data and/or power to each of the elementsor transmit data of the remote control device 200 to the externaldevice. For example, the interface 260 may include a wire/wirelessheadset port, an external charger port, a wire/wireless data port, amemory card port, a port for connecting a device having an identitymodule, an audio I/O (Input/output) port, a video I/O port and anearphone port.

The identity module is a chip storing a variety of information thereinto identify an authority for use of the remote control device 200. Theidentification module may include SIM (Subscriber Identity Module) andUSIM (Universal Subscriber Identity Module). A device having theidentity module (hereinafter, “identity device”) may be fabricated to bea smart card. Accordingly, the identity device may be connected to theremote control device 200 via a port.

The terminal controller 270 typically controls an overall operation ofthe remote control device 200. For example, the terminal controller 270performs control and process associated with voice call, datacommunication and video call. The terminal controller 270 may include amultimedia module 271 for playing multimedia. The multimedia module 271may be realized in the terminal controller 270 or separately realized.

The terminal controller 270 may process pattern recognition forrecognizing handwriting input or drawing input performed on a touchscreen as characters and images.

The power supply 280 may be provided with an external power or internalpower in accordance with the control of the controller 270 and supply apower required by the operation of the components.

The embodiment of the present disclosure may be realized in a computeror readable media similar to the computer, using a software, a hardwareor combination of the software and the hardware.

In hardware realization, the embodiments described herewith may berealized by using at least one of ASICs (Application Specific IntegratedCircuits), DSPs (Digital Signal Processors), DSPDs (Digital SignalProcessing Devices), PLDs (Programmable Logic Devices), FPGAs (FieldProgrammable Gate Arrays), processors, controllers, micro-controllers,microprocessors and electric units for performing other functions. Insome cases, the embodiments may be realized by the terminal controller270.

In software realization, embodiments such as processes and functions maybe realized together with an auxiliary software module performing one ormore functions or operations. A software code may be realized by asoftware application written in a proper program language. The softwarecode may be stored in the memory 250 and performed by the terminalcontroller 270.

FIG. 6 is a front perspective view of the remote control device.

The remote control device 200 described above includes a bar-shapedbody, but the embodiments are not limited thereto. The remote controldevice may be a slide type, a folder type, a swing type and a swiveltype, with two or more bodies relative-movably coupled to each other.

The body includes a case (e.g., a casing, a housing and a cover) fordefining an exterior appearance of the remote control device 200. Inthis embodiment, the case may be divided into a front case 201 and arear case 202. Various electronic components are mounted in a spaceformed between the front case 201 and the rear case 202. One or moreintermediate cases may be additionally arranged between the front case201 and the rear case 202.

The cases may be injection-molded of synthetic resin or they may beformed of a metallic material (e.g., stainless steel (STS) and titanium(Ti)).

In the body of the remote control device 200, mainly, in the front case201 may be arranged the display 241, the audio output module 242, thecamera 221, the input device 230, specifically, input devices 231 and232, the microphone 222 and the interface 260.

The display 241 occupies most of a main surface of the front case 201.The audio output module 242 and the camera 221 may be arranged adjacentto one of the two ends of the display 241. The input device 231 and themicrophone 222 may be arranged adjacent to the other end. The inputdevice 232 and the interface 260 may be arranged in lateral surfaces ofthe front and rear cases 201 and 202.

The user input device 230 may be operated by the user to receive aninput command for controlling the operation of the remote control device200. The user input device 230 may include a plurality of manipulatingdevices 231 and 232. The manipulating devices 231 and 232 may becollectively referred to as a manipulating portion. Any tactile mannersin which the user manipulates, with a tactile sense may be applied.

The contents input by the first or second manipulating devices 231 and232 may be set in various manners. For example, the first manipulatingdevice 231 receives an input command (e.g., a start command, an endcommand and a scroll command). The second manipulating device 232 mayreceive an input command (e.g., controlling of a sound output from theaudio output module 242 and conversion into a touch recognition mode ofthe display 241).

FIG. 7 is a rear perspective diagram of the remote control device 200.

Referring to FIG. 7, another camera 221′ may be additionally mounted ina rear surface of the body of the remote control device 200, in otherwords, in the rear case 202. The camera 221′ may have a photographingdirection substantially opposite to a photographing direction of thecamera 221 shown in FIG. 6 and it may have different pixel capacity fromthat of the camera 221.

For example, the camera 221 may have a relatively low pixel capacity,which causes no problems in transmitting a photograph of the user's faceto opponent recipient on a video call. The camera 221′ may have arelatively high pixel capacity because it is often not to transmit aconventional object immediately after photographing. The camera 221′ maybe coupled to the body of the remote control device 200 with rotatableor being able to pop up.

A flash 223 and a mirror 224 may be additionally arranged adjacent tothe camera 221′. The flash 223 flashes a light upon an object when thecamera 221′ photographs an object. The user may reflect the face in themirror 224 when trying to photograph himself or herself (in other words,self-photograph).

Another audio output module 242′ may be arranged in a rear surface ofthe body of the remote control device 200. The audio output module 242′may realize a stereo function, together with the audio output module 242shown in FIG. 6. The audio output module 242′ may be used in realizing aspeaker phone during the call.

A power supply unit 280 may be mounted to the body of the remote controldevice 200 to supply a power to the remote control device 200. The powersupply 280 may be mounted in the body of the remote control device 200or directly and detachably coupled to an outer surface of the bodypossessed by the remote control device 200.

FIG. 8 illustrates a method for generating image information of a robotcleaner in the robot cleaner system according to one embodiment asbroadly described herein, and FIGS. 9A-9D illustrate a method forgenerating location information of a robot cleaner in the robot cleanersystem.

As mentioned above, the robot cleaner system according to one embodimentincludes the remote control device 200 so as to control the driving ofthe robot cleaner 100 from a distance. However, for the remote controldevice 200 to control the driving of the robot cleaner 100, informationon a precise location of the robot cleaner 100 may be provided.Specifically, an actual region and a virtual region may be mapped witheach other.

To address this need, location information of the robot cleaner 100 maybe generated by sensing the robot cleaner 100 based on the imageinformation generated via the camera 221′ of the remote control device200.

First of all, the camera 221′ provided in the rear surface of the remotecontrol device 200 photographs the robot cleaner 100 and a region nearthe robot cleaner 100, to generate image information. The generatedimage information of the robot cleaner 100 is transmitted to theterminal controller 270.

Hence, the remote control device 200 may map an actual region where therobot cleaner 100 is located with a virtual region displayed as theimage information, based on the image information, as shown in FIG. 8.That means that the remote control device 200 senses the robot cleaner100.

As mentioned above, the recognition mark 112 allowing the externaldevice to sense the robot cleaner 100 may be provided on the uppersurface of the robot cleaner 100 (see FIG. 1). The shape of therecognition mark 112 is not limited to specific shapes and/or patterns.For example, the recognition mark 112 may be formed in a circular shapeas shown in FIG. 9A. In this instance, the width (W) and the height (H)of the recognition mark 112 have substantially the same value.

An actual shape of the recognition mark 112 is stored in the memory 250of the remote control device 200. In other words, information on therecognition mark 112 (e.g., the actual size of the recognition mark 112)is stored in the memory 250. The terminal controller 270 may extract therecognition mark 112 on an image of the image information and determinewhether the extracted recognition mark 112 is available, such that therobot cleaner 100 can be sensed based on the result of thedetermination.

The terminal controller 270 may check a shape, a pattern or a specificcolor of the recognition mark 112, to extract the recognition mark 112on the image of the image information.

However, in a case in which the image information has poor imagequality, it is difficult for the terminal controller 270 to sense therecognition mark 112. The terminal controller 270 may improve the imagequality of the image information before extracting the recognition mark112 from the image information.

The terminal controller 270 may perform image brightness control, noiserejection and color correction to improve the image quality of the imageinformation.

After that, the remote control device 200 may compare information on anactual shape of the recognition mark 112 with a relative shape figuredout by the image information and generate the location information ofthe robot cleaner 100 based on the result of the comparison. In otherwords, mapping between the actual region and the virtual region may beperformed.

When the user photographs the robot cleaner 100 and a region near therobot cleaner 100, using the camera 221′ of the remote control device100, the user may photograph the robot cleaner 100 and the region in astate of raising the remote control device 200 to a predeterminedheight. In other words, the user takes a picture while looking down onthe robot cleaner 100.

Accordingly, a height of the recognition mark 112 provided on the robotcleaner 100 may appear to be smaller than the width on the image of theimage information in accordance with an angle at which the user islooking down on the robot cleaner 100 as shown in FIG. 9B.

The relative shape and size of the recognition mark 112 extracted fromthe image information may be changed in accordance with a posture of therobot cleaner 100 and a distance between the robot cleaner 100 and theremote control device 200. The actual shape and size of the recognitionmark 112 extracted from the image information may be changeable inaccordance with the posture of the robot cleaner 100 and a distancebetween the robot cleaner 100 and the remote control device 200.

The actual shape of the recognition mark 112 is different from therelative shape extracted from the image information, corresponding tothe location and posture of the robot cleaner 100. Accordingly, theactual shape of the recognition mark 112 is compared with the relativeshape extracted from the image information and the location and postureof the robot cleaner 100 may be figured out based on the result of thecomparison. Also, a distance between the user and the robot cleaner 100and a photographing angle may be figured out. The scale between thevirtual region displayed on the image information and the actual regioncan be figured out.

Next, there will be described a specific method for recognizing thelocation and posture of the robot cleaner 100 based on the result of thecomparison between the actual shape of the recognition mark 112 and therelative shape figured out from the image information or mapping betweenthe virtual region and the actual region.

The following mathematical formulas, or equations, may be used inrecognizing the location and posture of the robot cleaner 100 from therelative shape of the recognition mark 112.

a.

$v = {c \times \left( \frac{\Delta\; w}{a} \right)}$

-   -   i.        -   c: camera horizontal view angle        -   i. Δw: w1-w3 [pixel]        -   ii. a: image vertical photograph resolution [pixel]

b.L=W/tan(ν)  Equation 2

-   -   i.        -   a. L: distance between robot cleaner and remote control            device        -   b. W: actual width [mm] of robot cleaner        -   c. V: view angle corresponding to Δw

c.

$u = {\sin^{- 1}\left( \frac{\Delta\; h}{\Delta\; w} \right)}$

-   -   i.        -   i. U: elevation angle of remote control device        -   ii. Δh: h1-h2 [pixel]        -   iii. Δw: w1-w2 [pixel]

d.

$\theta = {\tan^{- 1}\left( \frac{{h\; 3} - {h\; 4}}{{w\; 3} - {w\; 4}} \right)}$

-   -   i.        -   i. θ: azimuth of recognition mark

e.

$\theta_{0} = {\tan^{- 1}\left( {\left( \frac{{h\; 3} - {h\; 4}}{t} \right) \times \left( \frac{1}{{w\; 3} - {w\; 4}} \right)} \right)}$

-   -   i.        -   i. θ₀: compensated azimuth of recognition mark        -   ii. r: Δh/Δw (H/W ratio)

FIG. 9C illustrates an example of images of the image informationgenerated by the camera 221′ of the robot cleaner 100 and the regionnear the robot cleaner 100. A horizontal photograph resolution of animage is “a” [pixel] and a vertical photograph resolution is “b”[pixel]. A horizontal view angle of the camera 221 is “c°” and it meansthat an image of the image information has “a*b” resolution and “c°”horizontal view angle.

First of all, the distance between the robot cleaner 100 and the remotecontrol device 200 can be calculated, using Equations 1 and 2.

A horizontal view angle “v°” of the recognition mark 112 may becalculated by using a horizontal view angle “c°”, a vertical length “Δh”[pixel] of the recognition mark 112 on the image of the imageinformation and a horizontal length “Δw” [pixel] of the recognition mark112 on the image of the image information, as mentioned in Equation 1.

The calculated horizontal view angle “v°” of the recognition mark 112 issubstituted into Equation 2 and a horizontal distance (L) between therobot cleaner 100 and the remote control device 200 is gained as shownin FIG. 9C.

After that, an elevation angle “u°” at which the remote control device200 is looking down on the robot cleaner 100 may be gained as shown inFIG. 9C, using Equation 3.

Hence, an azimuth of the recognition mark 112 indicating the posture ofthe robot cleaner 100 may be gained, using Equations 4 and 5.

The recognition mark 112 on the image of the image information may havea circular or oval shape with the width (Δw) larger than the height(Δh). Accordingly, an azimuth “θ” of the recognition mark 112 on theimage of the image information shown in FIG. 9d is the same as orsmaller than an azimuth “θ0” of the actual recognition mark 112. Inother words, when the elevation angle of the remote control device 200is 90°, θ=θ0 and when the elevation angle is less than 90°, θ<θ0.

Accordingly, r(H/W ratio) is applied to Equation 4 for calculating arelative azimuth “θ” figured out from the image of the imageinformation, such that Equation 5 for calculating the actual azimuth“θ0”. As a result, the actual azimuth “θ0” of the recognition mark 112is calculated and a current posture of the robot cleaner 100 is thenfigured out.

In the robot cleaner 100 as embodied and broadly described herein, therobot cleaner 100 including the recognition mark 112 may be sensed bythe remote control device 200 including the camera 221′ and also thelocation information of the robot cleaner 100 indicating the locationand the posture of the robot cleaner 100 may be generated.

Meanwhile, it is assumed that the robot cleaner 100 is driving on aplane surface. Specifically, the actual cleaning region is shown on theplane and a virtual region having a different scale from such the actualcleaning region may be shown, such that the actual cleaning region andthe virtual region may be mapped with each other based on themathematical formulas mentioned above.

The location information of the robot cleaner 100 may be displayed onthe display 241 provided in the remote control device 200 and a locationbase service of the robot cleaner 100 may be provided to the user basedon the location information. In other words, various types of locationbased services may be provided by mapping between the virtual region andthe actual region. The location based service of the robot cleaner 100will be described in detail later.

Meanwhile, in a robot cleaner system according to another embodiment ofas broadly described herein, appearance information of the robot cleaner100 may be stored in a memory of a remote control device 200, not usingthe recognition mark 112, such that the location information of therobot cleaner 100 may be generated.

Specifically, an actual shape of the robot cleaner 100 is compared witha relative shape figured out by image information. A location and aposture of the robot cleaner 100 may be recognized based on the resultof the comparison. This embodiment is essentially the same as theembodiment described above, except the shape information of the robotcleaner 100 may be used in figuring out the location and the posture ofthe robot cleaner 100. Repeated description of this embodiment isomitted.

FIGS. 10A-10B, 11, 12 and 13 illustrate the location based service ofthe robot cleaner 100 provided by the robot cleaner system according toone embodiment as broadly described herein.

As mentioned above, the remote control device 200 may generate the imageinformation on the robot cleaner 100 and the region near the robotcleaner 100. Then the remote control device 200 may sense the robotcleaner 100 based on the image information and generate the locationinformation on the robot cleaner 100.

In addition, the display 241 may output image information on the robotcleaner 100 and the region near the robot cleaner 100. Especially, theterminal controller 270 controls the robot cleaner 100 to be selectableon a screen of the display 241 based on the location information on therobot cleaner 100, such that the user may control the driving of therobot cleaner 100 while watching a current state of the robot cleaner100 via the display 241.

To control the driving of the robot cleaner 100, the remote controldevice 200 may further include an input mechanism configured to input acontrol signal of the robot cleaner 100. The microphone 222, the userinput device 230 and the display 241 having a touch sensor for sensing atouch input may function as the input mechanism.

When the control signal of the robot cleaner 100 is input to the remotecontrol device 200, the second wireless communication device 210 of theremote control device 200 may transmit the control signal to the firstwireless communication device 180 of the robot cleaner 100 such that therobot cleaner 100 can be driven by the cleaner controller 160 inaccordance with the control signal.

Next, location based services of the robot cleaner 100 which can beprovided via the input mechanism of the remote control device 200 willbe described, referring to the drawings.

First of all, a location based service of the robot cleaner 100 whichcan be provided via a touch input to the display 241 will be described.

For example, a cleaning region of the robot cleaner 100 may be set viatouch input. When a virtual region (A) shown in FIG. 10A is designatedon the screen of the display 241, the terminal controller 270 designatesan actual region (A′) of a room corresponding to the virtual region (A)as the cleaning region. Accordingly, the robot cleaner 100 may performcleaning after moving to the cleaning region as shown in FIG. 10B. Inother words, the virtual region displayed on the display 241 may bemapped with the actual region and an actual motion coordinate may betransmitted to the robot cleaner.

For example, if the virtual region (A) designated on the display 241 isa region 5 centimeters distant from a center of the robot cleaner on thedisplay 241 to the right, the actual region (A′) may be mapped to aregion 1 meter distant from a center of the actual robot cleaner to theright. Such mapping may be performed based on mapping information ofcomparing an actual shape and size of the recognition device with arelative shape and size of the recognition device on the imageinformation, as mentioned above. Accordingly, the mapping informationgained after mapping the virtual region to the actual region may betransmitted to the robot cleaner 100 and the cleaner may performcleaning based on the mapping information.

Specifically, in one embodiment, a cleaning region may be simply set bya touch input via an image (in other words, a virtual region) of a roomoutput on the display 241. Accordingly, the robot cleaner can performcleaning only for the region desired to be cleaned and the cleaning timecan be reduced. Also, power consumption may be reduced.

Meanwhile, a passage, or path, of the robot cleaner 100 may be set by atouch input. When a passage (B) is designated on a screen of the display241 shown in FIG. 11, the terminal controller 270 designates a passage(B1) on a room corresponding to the passage (B) as the passage of therobot cleaner 100. Accordingly, the robot cleaner 100 can move to atarget point along the designated passage (B1).

In one embodiment, the passage of the robot cleaner 100 may be set bythe touch input via the image of the room output on the display 241.Accordingly, the robot cleaner 100 may automatically move along a routeset by the user and the delay time which might be generated by changinga moving direction of the robot cleaner in real time via a direction keymay be removed.

Together with that, the passage of the robot cleaner may be a curvedline and a straight line mixed freely, and it is possible for the userto perform elaborate manipulation.

A do-not-clean region of the robot cleaner 100 may be set by a touchinput. When a no-cleaning line (C) is designated on the screen of thedisplay 241 as shown in FIG. 12, the terminal controller 270 sets anouter region with respect to partitioning lines (C′) on the roomcorresponding to the no-cleaning line (C) as the do-not clean region.Accordingly, the robot cleaner 100 may perform cleaning only for aninner region with respect to the partitioning lines (C′).

In one embodiment, a room may be simply divided through an image of aroom output on the display 241 and a do-not clean region may be set.Accordingly, the do-not clean region can be set, without using anauxiliary device (e.g., a Magnet stripe, a virtual wall or the like).

The controlling of the robot cleaner 100 through the touch input may beperformed by a medium of the image of the robot cleaner 100 and theregion near the robot cleaner 100 output on the display 241, such thatthe driving of the robot cleaner 100 can be controlled intuitively andelaborately.

The various location based services provided by the touch input may beperformed by selecting an icon of a corresponding service displayed onthe screen of the display 241 after a touch input of the correspondingservice is applied as mentioned above. For example, when a drivingpassage shown in FIG. 11 is set on the display 241 and an icon istouched, driving passage information and a driving command may betransmitted to the robot cleaner 100 from the remote control device 200.In this instance, the service may be selected by a voice output from themicrophone 222 or by the user input device 230.

Next, an example of a location based service of the robot cleaner 100which can be provided by a voice input to the microphone 222 will bedescribed.

For example, the robot cleaner 100 may be called to the user's locationthrough a voice input. When the user inputs a preset voice command tothe microphone 222 of the remote control device 200, the robot cleaner100 may move to the location of the remote control device 200, in otherwords, the user's location based on the location information.

As mentioned above, the robot cleaner may be remote-controlled via thedisplay 241 in accordance with the mapping between an actual region witha virtual region. Accordingly, once the mapping is performed, the userneed not watch the actual region or the robot cleaner. Specifically,once the mapping is performed, the user can remote-control the robotcleaner via the display 241 even after moving to other regions. In thisinstance, wireless communication between the remote control device 200and the robot cleaner 100 has to be maintained.

Generally, the cleaning region set to be cleaned by the robot cleanermay be fixed. In this instance, the sensing of the robot cleanerperformed by the remote control device 200 or the mapping between theactual region and the virtual region may be maintained consistently.Specifically, it is possible to use one sensing or mapping as it is.Accordingly, it is not necessary to photograph the robot cleanerwhenever the remote control is performed. When the former photographedimage information is stored and the wireless control is performed, theimage information may be displayed on the display 241. After that, thewireless control may be repeatedly performed through a virtual regiondisplayed on the display 241. If the environment allows wirelesscommunication between the robot cleaner 100 and the remote controldevice 200, the user may perform wireless control of the robot cleanereven outside.

For example, the robot cleaner may be connected to awireless-communication network via WiFi AP in a house. The remotecontrol device 200 held by the user may be wirelessly linked to therobot cleaner through a server and the WiFi AP. Accordingly, the usercan wirelessly control the robot cleaner located in the house fromoutside.

To make such wireless control possible, the robot cleaner 100 has tomove to an initial location. In other words, when a photograph is taken,the robot cleaner 100 may move to the initial location of the robotcleaner 100. Accordingly, initial location information (e.g., coordinateinformation and posture information) may be stored in the robot cleaner.Once the wireless control starts, the robot cleaner may move to theinitial location.

The wireless control of the robot cleaner, using the remote controldevice 200, may simply perform the original cleaning function andadditionally please the user. A control method of the robot cleaneraccording to another embodiment will now be described. Wheneverpossible, repeated description will be omitted or mentioned briefly andthe same numeral references are given to the same components.

The control method of the robot cleaner system according to thisembodiment, including the robot cleaner 100 and the remote controldevice 200 having the camera 221′ and the display 241, may include astep of generating image information of the robot cleaner 100 and theregion near the robot cleaner using the camera 221, and a step ofsensing the robot cleaner 100 based on the image information. Thecontrol method may further include a step of generating locationinformation of the robot cleaner 100. In other words, a step of mappingan actual region and a virtual region to each other in accordance withthe generated image information may be performed.

A step of outputting the image information and the location informationon the display 241 may be performed when generating the imageinformation. After that, a step of providing a location based servicemay be performed based on the location information.

After initializing the robot cleaner system (S10), image information ofthe robot cleaner 100 and the region near the robot cleaner may begenerated using the camera 221′ of the remote control device 200 (S100).

Then, the robot cleaner 100 may be sensed based on the image information(S200). Here, sensing the robot cleaner 100 may be performed by sensingthe recognition mark 112 of the robot cleaner 100.

As shown in FIG. 15, sensing the robot cleaner 100 (S200) may includeimproving image quality of the image information (S210), sensing therecognition mark 112 of the robot cleaner 100 (S220), determiningwhether the sensed recognition mark 112 is effective (S230), andrecognizing the robot cleaner 100 (S240).

The step of improving the image quality of the image information (S210)may be performed by the terminal controller 270 of the remote controldevice 200. More specifically, at least one of image brightnessadjustment, noise rejection and color correction may be performed.

The step of recognizing the robot cleaner 100 (S240) may be performed bythe terminal controller 270 by recognizing an object having theeffective recognition mark 112 as the robot cleaner 100.

In the step of determining whether the sensed recognition mark 112 is aneffective recognition mark (S230), if the sensed recognition mark 112 isnot the effective recognition mark 112, the method returns to the stepof generating image information of the robot 100 and the region near therobot cleaner 100 via the camera 221′.

After sensing the robot cleaner (S200), a step of generating locationinformation of the robot cleaner 100 (S300) may be performed.Specifically, the step (S300) of generating the location information ofthe robot cleaner 100 may be performed by comparing an actual shape ofthe recognition mark 112 with a relative shape recognized by the imageinformation. Here, the terminal controller 270 may generate the locationinformation of the robot cleaner 100 based on factors (e.g., ahorizontal view angle, H/W ratio, an elevation angle and an azimuth) ofthe recognition mark 112 recognized by the image information.Accordingly, the actual region and the virtual region may be mapped toeach other.

The image information and the location information of the robot cleaner100 may then be output on the display 241 (S400). In other words, a stepof mapping by converting a screen of the display 241 after photographingmay be performed. After the mapping step is performed, the photographedimage information and location information may be output on the display241. After the photographed images are displayed on the display 241consistently, the mapping step may be performed. Accordingly, wirelesscontrol may be performed through the display 241, once the mapping iscompleted.

Here, the terminal controller 270 may display the robot cleaner 100 tobe selectable on the screen of the display 241. After that, a step ofproviding a location bases service based on the location information maybe performed (S500). Providing the location based service (S500) mayinclude generating a control signal of the robot cleaner 100 (S510),transmitting the control signal to the robot cleaner (S520), and drivingthe robot cleaner 100 in accordance with the control signal (S530), asshown in FIG. 16.

Generating the control signal of the robot cleaner 100 (S510) may beperformed by applying a touch input to the display 241. Especially, thetouch input may be applied by the medium of the image of the robotcleaner 100 and the image of the region near the robot cleaner 100output on the display 241. As a result, as a preset patterned touchinput is applied to drive the robot cleaner 100 so as to provide thelocation based service, a corresponding control signal may be generated.

As an example of the preset pattern, a circle may be drawn on the screenof the display 241 to designate a predetermined region or a passagehaving curved lines and straight lines, or partition lines may be drawnto partition off the screen of the display 241.

As the control signal is input by the touch input, the location basedservice may include at least one of a passage setting function, acleaning region designating function or a do-not clean regiondesignating function.

Meanwhile, the location based service may include a function of callingthe robot cleaner 100 to the location of the remote control device 200,once a voice call signal is input to the remote control device 200.

The microphone 222 may be provided in the remote control device 200 andthe remote control device 200 may transmit a voice call signal to therobot cleaner 100 via the microphone 222, only to call the robot cleaner100 to the location of the remote control device 200, in other words,the user's location.

FIG. 17 is a flow chart further detailing the step of sensing the robotcleaner (S200), according to another embodiment.

The control method of the robot cleaner system according to thisembodiment is identical to the robot cleaner system according to theembodiment, except that the location information of the robot cleaner100 is generated by sensing shape of the robot cleaner 100.

Sensing the robot cleaner 100 (S200) may include improving an imagequality of image information (S201′) sensing a shape of the robotcleaner 100 (S220′), determining whether the sensed shape of the robotcleaner 100 is an effective shape (S230′), and recognizing the robotcleaner (S240′) as shown in FIG. 17.

The shape of the robot cleaner 100 may be stored in the terminalcontroller 270 of the remote control device 200 and the shape of therobot cleaner 100 may be sent from the image information.

In the step of determining whether the sensed shape of the robot cleaner100 is effective (S230′), if the sensed shape is not the effectiveshape, the method may return to generating image information on therobot cleaner 100 and a region near the robot cleaner 100 using thecamera 221′ (S100).

Thereafter, location information of the robot cleaner 100 may begenerated (S300). Generating the location information of the robotcleaner 100 may be performed by comparing an actual shape of the robotcleaner 100 with a relative shape figured out based on the imageinformation. Here, the terminal controller 270 may generate the locationinformation of the robot cleaner 100 based on factors of the robotcleaner 100 (e.g., a horizontal view angle, H/W ratio, an elevationangle and an azimuth).

Referring to FIG. 18, another embodiment of the recognition means willbe described.

Different from what is shown in FIG. 1, a plurality of recognitiondevice may be provided, not one recognition device. The recognitiondevice could be distorted by photographing, and a small error caused inthe mapping process could become substantially larger. In addition, therecognition device may be distorted by an external light source (e.g.,sunshine and lightening). Accordingly, three or more recognition devicesmay be provided to compensate for such distortion.

As shown in FIG. 1, the recognition device such as the recognition mark112 may be provided on an outer surface of the cleaner case 110.Accordingly, the recognition mark 112 may damage an exterior design ofthe robot cleaner. That is, artificial design patterns may be lessdesirable on the robot cleaners which may instead tend to show a naturaltexture.

Accordingly, the recognition device such as the recognition mark 112 maybe selectively provided on an outer surface of the case. For example, adetachable sheet type recognition mark 112 may be fabricated to performthe wireless control. For that, the recognition mark 112 may be attachedto the outer surface of the case 110, when photographing the robotcleaner 100. Such a recognition mark 112 may be normally detached fromthe case 110.

For example, a plurality of magnets may be provided in the recognitionmark 112 and a corresponding number of magnets may be provided in thecase 110. When the user detaches the recognition mark 112, damage to anoriginal exterior design of the robot cleaner can be prevented. Also, itis possible to attach the recognition mark 112 to the cleaner case 110if necessary. The detached recognition mark 112 may be attached to adoor of an electric home appliance (e.g., a refrigerator) and therecognition mark 112 may be fabricated with an easy repair andmaintenance.

In the robot cleaner system according to one embodiment may include arecharging base 300 to recharge the robot cleaner. The recognitiondevice mentioned above may be provided in the robot cleaner 100 and/orthe recharging base. The location based service similar or identical tothe location based service through the recognition device may beprovided

FIG. 18 illustrates an example of the recharging base 300.

One or more sensors 350 may be provided in the recharging base 300 totransmit and receive a signal to and from the short range communicationmodule 182 of the robot cleaner 100. The communication using the sensors350 may enable the robot cleaner 100 to return to the recharging base300.

The recharging base 300 may include a recharging base case 310. A slot315 may be provided in the case 210 to mount the robot cleaner 100 tothe case 310 and a recharging terminal 330 may be provided in the slot315.

Generally, the robot cleaner 100 recognizes its location and its posturewithin a house (a cleaning region) based on SLAM (Simultaneous Locationand Mapping). Also, the robot cleaner 100 may figure out the location ofthe recharging base 300 and also a relative location or posture ofitself with respect to the recharging base 300.

Like the mapping the actual region to the virtual region with respect tothe robot cleaner 100, an actual region and a virtual region withrespect to the recharging base 300 may be mapped to each other.Specifically, the same or similar recognition means may be provided evenin the recharging base 300. A recognition mark 312 shown in FIG. 18 isprovided as one example of the recognition device.

The user may generate the same image information, using the remotecontrol device 200. In other words, an actual region near the rechargingbase 300 may be mapped to a virtual region displayed on the display ofthe remote control device 200 by using the recognition mark 312 providedin the recharging base 300. Also, such the mapping may provide the samelocation based service mentioned above.

For example, the user may designate a region near the recharging base300 as a cleaning region, while watching the display. The virtualcleaning region as the actual cleaning region may be transmitted to therecharging base 300 or the robot cleaner 100 based on the mappinginformation. The robot cleaner 100 recognizes a current location withrespect to the recharging base 300 and figures out a designated actualregion.

For example, when designating a region 5 centimeters distant from therecharging base 300 to the right in virtual regions, the user maydesignate a region substantially 3 meters distant to the right based onthe mapping information. At this time, the robot cleaner issubstantially located 5 meters distant from the recharging base 300,only to be not shown in the virtual region. Nevertheless, the robotcleaner 100 is figuring out its location with respect to the rechargingbase and then driving to the actual region to perform cleaning.

Accordingly, the recognition device may be provided in the rechargingbase 300 and similar effect can be gained. In this instance, the robotcleaner 100 is not substantially photographed and the recharging base300 is generally fixed, such that a controllable region may berestricted to the region near the recharging base 300.

As mentioned above, the robot cleaner system capable of providing thelocation based service by mapping the virtual region and the actualregion to each other via the recognition means provided in the robotcleaner 100 or the recharging base 300 and the control method of therobot cleaner system are described in detail. Specifically, therecognition mark as the recognition device is described in detail.

However, the recognition mark 112 and 312 as the recognition means couldaffect an exterior design of the recharging base 300 provided in therobot cleaner system. If a minimal design expressing an original textureor color of a material is preferred. Such recognition marks 112 and 312may detract from the exterior design, in an aspect of the minimaldesign.

Accordingly, recognition devices capable of sensing an original designof the robot cleaner 100 or the recharging base 300 easily, withoutcausing the damage to the original design may be considered.

As shown in FIG. 19, the case 110 of the robot cleaner 100 may includean outer wall 111. A panel type outer wall 111 is fabricated and theouter wall 111 defines an exterior appearance of the case 110. Variouscomponents may be provided in the water wall 111.

In this embodiment, a lighting image 412 may be provided as therecognition device. The lighting image 412 may be selectively activated.In other words, the lighting image 412 may be generated or removed byselective activation of a light source 400.

Specifically, the outer wall 111 may include a color layer 111 b and areflective layer 111 c. The color layer 111 b is formed in an outerportion and the reflective layer 111 c may be formed in an innerportion. The color layer 111 b realizes an exterior design color senseof the case 110.

Basically, external light may not transmit to the inner portion of theouter wall 111 via the reflective layer 111 c and the user cannot seethe inner space of the reflective layer 111 c from outside of the robotcleaner. Also, a transparent layer 111 a may be provided on an outerportion of the color layer 111 b and a smooth and glossy exterior designcan be realized.

To selectively generate or activate the lighting image 412, a lightingapparatus 400 may be provided in the reflective layer 111 c. Forexample, the lighting apparatus 400 may include an LED lightingapparatus and a LED element. A light may be irradiated outside the case111 from inside by the activation of the LED lighting apparatus or LEDelements. Such a light may form a preset lighting image 412 in the outerwall 111 by transmitting the reflective layer 111 c.

As shown in FIG. 19, when the lighting apparatus 400 is deactivated, thelighting image 412 is not generated in the outer wall 111 and thelighting apparatus 400 is not seen from the outside. Accordingly, anoriginal design of the product is adversely affected when the lightingapparatus 400 is inactivated.

In contrast, when the lighting apparatus 400 is activated, the lightingimage 412 is generated in the outer wall 111 and the remote controldevice 200 maps a virtual region to an actual region via the lightingimage 412.

When using the lighting image 412 as the recognition device, the designcan be maintained and also the recognition device can be recognizedclearly even in a dark environment.

As shown in FIG. 20, before the light source 400 is activated, a generalexterior design of the robot cleaner may be maintained as is. However,when the light source 400 is activated, the lighting image 412 isgenerated at an outer portion of the case 110 and the user can recognizethe generated lighting image 412 easily.

Such lighting images 412 may have various shapes for LED elements,respectively. The lighting apparatus having a plurality of LED elementsmay form a lighting image in a predetermined region. For example, theLED lighting apparatus may form a circular or polygonal shaped lightingimage.

The lighting image 412 is formed by the light source 400 and recognizedeven in the dark environment easily. Even in a dark room, the robotcleaner can be used easily even with no lighting.

The lighting image 412 may not be always activated and visible, and itis preferred that the lighting image 412 is activated only whennecessary.

When the user performs remote-control for the robot cleaner 100 or usingthe location based service, using the remote control device 200 as shownin FIG. 14, the lighting image 412 may be activated. In other words, thelighting image 412 may be activated in the initializing step (S10). Thefollowing steps may then be performed after the initialization step(S10).

For example, the service including the remote control may be performedby an application installed in the remote control device 200. Once theuser implements the application on the remote control device 200, theremote control device 200 may transmit an implementing command to therobot cleaner 100. The robot cleaner 100 applies the electric power tothe lighting apparatus 400 based on the implementing command, toactivate the lighting image 412.

In other words, the lighting image 412 may be activated by the remotecontrol device 100 in the initialization step (S10). After that, theactivation of the lighting image 412 may be maintained consistentlywhile the location based service is performed in accordance with theapplication. Once the application is ended, the activation of thelighting image 412 may be ended.

As mentioned above, the lighting image 412 may be activated only whenthe remote control device 200 is used. Other people as well as the userwatching the robot cleaner 100 can intuitively figure out that theremote control device 200 is used. The lighting image 412 may realize aunique design and a new design, and also it may provide a pleasantfunction as well as an original function of the cleaner.

Meanwhile, the recognition device may be formed in various types and thelocation of the recognition device may be changeable variously. Inaddition, the shape and number of the recognition device may bechangeable variously.

The recognition device(s) may be used in mapping the actual region tothe virtual region precisely. It is preferred that a mapping error isreduced by the recognition mean. An error caused in a small regionmapped to a large region may be much larger.

For precise and minute mapping, the recognition means may be provided ina plurality of regions, for example, three or more. In this instance,the recognition means having various shapes may be provided.

Generally, a circular image is likely to have the least distortion atvarious angles, because a center of a circle can be easily determined.The plurality of recognition devices may include a circular image ormark.

A light through a window or lighting may be reflected on the outersurface of the case 110 by a light source (e.g., external lighting andsunlight). However, the upper surface of the case 110 may be a gentlycurved surface and such reflection may be partially generated in theupper surface of the case 110. The reflection may distort therecognition means.

To deal with this, the plurality of recognition devices may be providedas mentioned above. Different from what is shown in FIG. 1, therecognition devices may be provided at left upper and lower portions ofthe upper surface of the case and right upper and lower portions of theupper surface. Accordingly, increased error due to distortion of therecognition device by the external light source may be avoided.

FIGS. 21A-21D illustrate various types of recognition devices, which maybe a mark or a light image. The recognition devices may have variouscolors, especially, vivid primary colors. For example, the recognitiondevices may be a visual mark as shown in FIGS. 21A, 21B and 21C or asolid mark as shown in FIG. 21D. The recognition device may figure out alinear portion reflected on the plane and it is necessary to provide twoconnected points allowing the linear portion to be seen clearly in therecognition device.

FIG. 22 illustrates an exemplary screen displayed on the remote controldevice 200, which may be referred to as an initial screen of animplemented application. The user can select various contents on theapplication initializing screen.

For example, an icon indicating remote control may be displayed on theinitialization screen and the location based service mentioned above maybe implemented by the remote control icon.

The robot cleaner system and the control method of the robot cleanersystem mentioned above have been described with reference to a number ofillustrative embodiments thereof. However, it should be understood thatnumerous other modifications and embodiments may be devised by thoseskilled in the art that will fall within the spirit and scope of theprinciples as broadly described herein. More particularly, variousvariations and modifications are possible in the component parts and/orarrangements of the subject combination arrangement within the scope ofthe disclosure, the drawings and the appended claims. In addition tovariations and modifications in the component parts and/or arrangements,alternative uses may also be apparent to those skilled in the art.

Exemplary embodiments provide a robot cleaner and a control method ofthe same that may enhance product reliability and satisfaction byproviding a pleasure and an original function of cleaning to a user.

Exemplary embodiments may also provide a robot cleaner system and acontrol method of the same that may precisely measure a relativeposition between the robot cleaner and the user.

Exemplary embodiments may also provide a robot cleaner system and acontrol method of the same that may control a robot cleaner wirelessly,even without the user watching the robot cleaner directly.

Exemplary embodiments may also provide a robot cleaner system and acontrol method of the same that may map a cleaning region recognized bya display of a remote control device with an actual cleaning region.

Exemplary embodiments may also provide a robot cleaner system and acontrol method of the same that may prevent damage to an external designthereof and allows the user to determine wireless operation easily.

Exemplary embodiments may also provide a robot cleaner system and acontrol method of the same that may enhance use convenience by providinga location base service based on location information between the robotcleaner and the user.

Exemplary embodiments may also provide a robot cleaner system and acontrol method of the same that may be operated by the user intuitivelyand elaborately via a touch input for the robot cleaner displayed on thedisplay of the remote control device and for an image of nearby regions.

A robot cleaner system, as embodied and broadly described herein, mayinclude a robot cleaner configured to perform cleaning, while drivingautomatically; a recharging base for the robot cleaner; and a remotecontrol device configured to perform remote-control of the robotcleaner, wherein the remote control device generates mapping informationbetween an actual region and a virtual region based on image informationgenerated by a camera on the robot cleaner and a region near the robotcleaner or image information generated by a camera on the rechargingbase and a region near the recharging base. A location based service maybe performed or provided based on the mapping information. Specifically,the robot cleaner may be controlled wirelessly.

In certain embodiments, the recharging base may be omitted, and therobot cleaner system may not include the recharging base. Then, thegeneration of the image information on the recharging base need not beperformed and only the location based service for the robot cleaner maybe performed.

The remote control device may generate location information and postureinformation of the robot cleaner or location information and postureinformation of the recharging base by sensing the robot cleaner or therecharging base based on the image information.

The remote control device may generate the mapping information betweenthe actual region and the virtual region by comparing an actual shape ofthe robot cleaner or an actual shape of the recharging base with arelative shape recognized from the image information.

Recognition means may be provided in the robot cleaner or the rechargingbase to generate the mapping information. Such recognition means may berecognized through the camera clearly. However, the recognition meansmay be a type of recognition means directly seen by the user, in otherwords, the means recognizable via a visible ray.

The remote control device may generate the mapping information bycomparing actual shape information of the recognition means withrelative shape information recognized by the image information.

The remote control device may include a display configured to displaythe image information; and an input unit configured to input a controlsignal of the robot cleaner thereto. The display may include a touchsensor functioned as the input unit configured to sense touch input.Accordingly, it is possible to form a free pattern on a virtual regionof the display rather than simply touching a button icon and to controlthe robot cleaner wirelessly. The user may be provided with the simplecleaning and a pleasure.

The recognition means may include a recognition mark provided in anouter circumferential surface of a case provided in the robot cleaner orthe recharging base. The recognition mark may be selectively detachablefrom the outer circumferential surface of the case.

A plurality of recognition means may be provided in the case of therobot cleaner. Distortion which might be generated in the recognitionmeans and an error caused by the distortion can be minimized.Accordingly, more minute wireless control can be performed.

The recognition means may include a LED lighting configured to provide alight toward an outside of the case from an inside of the case providedin the robot cleaner or the recharging base. Such LED lighting may beselectively activated and it may normally be inactivated. The LEDlighting may be activated only for the remote control.

An outer wall of the case may include a color layer and a reflectivelayer from the outside, and the LED lighting is provided under thereflective layer and the LED lighting visually exposed to the outer wallof the case, in an inactivated state, is excluded. Accordingly, a uniqueexterior design of the robot cleaner may not be damaged and also aminimal exterior design can be realized.

The LED lighting may be activated in accordance with a control signal ofthe remote control device, when an application for controlling the robotcleaner is implemented in the remote control device. The application maybe a combined application for other icons as well as an icon forinitializing the remote control.

In this instance, other icons may be input and the LED lighting may beactivated when an icon for initializing the remote control is input.

A control method of a robot cleaner system including a robot cleaner, arecharging base for the robot cleaner and a remote control having acamera and a display, as embodied and broadly described herein, mayinclude a step of generating image information on the robot cleaner anda region near the robot cleaner, using the camera; a step of mapping anactual region to a virtual region displayed on the display based on theimage information; and a step of performing a location based service ofthe robot cleaner through the virtual region displayed on the display.

The mapping step may include a step of sensing the robot cleaner or therecharging base based on the image information; and a step of generatinglocation information on the robot cleaner or the recharging base.

The sensing step may perform at least one of image brightnesscontrolling, noise rejection and color correction to improve an image ofthe image information.

The step of providing the location based service may convert an input ofdriving the robot cleaner via touch input on the virtual regiondisplayed on the display into a driving command signal of the robotcleaner in the actual region based on the mapping information. In thestep of providing the location based service, the driving command signalof the robot cleaner may be generated by a touch input on the virtualregion displayed on the display.

The location based service may include at least one of a passage settingfunction, a cleaning region designating function, a do-not cleaningregion designating function and a moving-to-the user setting function.

The control method of the robot cleaner system may further include astep of activating recognition means provided in the robot cleaner orthe recharging base. Accordingly, an exterior design of the robotcleaner or the recharging base can be maintained as it is normally.

Any reference in this specification to “one embodiment,” “anembodiment,” “example embodiment,” etc., means that a particularfeature, structure, or characteristic described in connection with theembodiment is included in at least one embodiment of the invention. Theappearances of such phrases in various places in the specification arenot necessarily all referring to the same embodiment. Further, when aparticular feature, structure, or characteristic is described inconnection with any embodiment, it is submitted that it is within thepurview of one skilled in the art to effect such feature, structure, orcharacteristic in connection with other ones of the embodiments.

Although embodiments have been described with reference to a number ofillustrative embodiments thereof, it should be understood that numerousother modifications and embodiments can be devised by those skilled inthe art that will fall within the spirit and scope of the principles ofthis disclosure. More particularly, various variations and modificationsare possible in the component parts and/or arrangements of the subjectcombination arrangement within the scope of the disclosure, the drawingsand the appended claims. In addition to variations and modifications inthe component parts and/or arrangements, alternative uses will also beapparent to those skilled in the art.

What is claimed is:
 1. A robot cleaner system, comprising: a robotcleaner configured to perform a cleaning operation; a recharging baseconfigured to receive the robot cleaner; at least one recognition deviceprovided on at least one of the robot cleaner or the recharging base;and a remote control device operably coupled to the robot cleaner toremotely control the robot cleaner, the remote control device includinga camera and a display, wherein the remote control device generatesmapping information between an actual region and a virtual region of thedisplay of the remote control device based on image information on therobot cleaner and a region near the robot cleaner, or based on imageinformation on the recharging base and a region near the rechargingbase, wherein the image information is generated by the camera of theremote control device, wherein the robot cleaner and the recharging baseare recognized in the image information based on detection of the atleast one recognition device, wherein the at least one recognitiondevice comprises a light source provided in a case of the robot cleaneror a case of the recharging base, and wherein the light source isconfigured to emit light from an inside of the case toward an outside ofthe case.
 2. The robot cleaner system of claim 1, wherein the remotecontrol device generates location information of the robot cleaner, orgenerates location information of the recharging base by sensing aposition of the robot cleaner or a position of the recharging base basedon the image information.
 3. The robot cleaner system of claim 2,wherein the remote control device also generates posture informationrelated to an orientation of the robot cleaner, or generates postureinformation related to an orientation of the recharging base.
 4. Therobot cleaner system of claim 1, wherein the remote control devicecomprises: the display configured to display the image information; andan input device configured to receive a control command for the robotcleaner.
 5. The robot cleaner system of claim 4, wherein the displaycomprises a touch sensor configured to sense a touch input, wherein theinput device includes the touch sensor.
 6. The robot cleaner system ofclaim 5, wherein the remote control device is configured to perform alocation based service of the robot cleaner in response to the touchinput received at the display.
 7. The robot cleaner system of claim 1,wherein the light source is an LED light source.
 8. The robot cleanersystem of claim 1, wherein an outer wall of the case comprises a colorlayer and a reflective layer provided on an interior facing side of thecolor layer, and wherein the light source is positioned under thereflective layer such that the light source is not visible from outsideof the case when the light source is deactivated.
 9. The robot cleanersystem of claim 1, wherein the light source is activated in response toa control signal generated by the remote control device to implement anapplication for controlling the robot cleaner.
 10. A method ofcontrolling a robot cleaner system comprising a robot cleaner, arecharging base and a remote control device having a camera and adisplay, the remote control device being configured to remotely controlthe robot cleaner, the method comprising: activating at least onerecognition device provided in the robot cleaner, the at least onerecognition device comprising a light source provided in a case of therobot cleaner and configured to emit light from an inside of the casetoward an outside of the case; and capturing image information of therobot cleaner and a region near the robot cleaner using the camera ofthe remote control device; displaying a virtual region on the displaycorresponding to an area to be cleaned by the robot cleaner system;mapping an actual region to the virtual region displayed on the displaybased on the image information captured by the camera of the remotecontrol device; and performing a location based service of the robotcleaner through the virtual region displayed on the display.
 11. Themethod of claim 10, wherein mapping an actual region to the virtualregion comprises: detecting at least one of the robot cleaner or therecharging base from the image information; and generating locationinformation related to the at least one of the robot cleaner or therecharging base based on the detection.
 12. The method of claim 11,further comprising improving an image quality of the image informationafter detecting at least one of the robot cleaner or the rechargingbase, comprising at least one of adjusting image brightness, eliminatingnoise, or correcting color of the image information.
 13. The method ofclaim 10, wherein performing a location based service comprisesconverting an input received via touch input on the virtual regiondisplayed on the display for driving the robot into a driving commandsignal for driving the robot cleaner in the actual region based on themapping of the actual region to the virtual region.
 14. The method ofclaim 10, wherein performing a location based service comprises at leastone of setting a passage, designating a cleaning region, designating ado-not clean region, or setting a move to user function.